• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.10a
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• pp.129-134
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• 2003

Mobile Mapping System needs system calibration of multi sensors. System calibration is defined as determination of spatial and rotational offsets between the sensors. Especially, EO parameters of GPS/INS require knowledge of the calibration to camera frame. The calibration parameters must be determined with the highest achievable accuracy in order to get 3D coordinate points in stereo CCD images. This study applies Boresight calibration for the calibration between GPS/INS and camera, and estimates the Performance of the calibration.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.64-71
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• 1997

Objective of calibration is to find out the accurate kinematic relationships between robot joint angles and the position of the end-effector by estimating accurate model parameters defining the kinematic function. Estimating the model parameters requires measurement of the end-effector position at a number of different robot configurations. This paper studies the implication of measurement configurations in robot calibration. For selecting appropriate measurement configurations in robot calibration, an index is defined to measure the observability of the model parameters with respect to a set of robot configurations. It is found that, as the observability index of the selected measurement configurations increase the attribution of the position errors to the parameter errors becomes dominant while the effects of the measurement and unmodeled errors are less significant; consequently better estimation of parameter errors is expected. To demonstrate the implication of the observability measure in robot calibration, computer simulations are performed and their results are discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.406-410
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• 2008

This paper presents a new robot calibration algorithm with joint stiffness parameters for the enhanced positioning accuracy of industrial robot manipulators. This work is towards on-going development of an industrial robot calibration software which is able to identify both the kinematic and non-kinematic robot parameters. In this paper, the conventional kinematic calibration and its important considerations are briefly described first. Then, a new robot calibration algorithm which simultaneously identifies both the kinematic and joint stiffness parameters is presented and explained through a computer simulation with a 2 DOF manipulator. Finally, the developed algorithm is implemented to Hyundai HX165 robot and its resulting improvement of the positioning accuracy is addressed.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• Geomechanics and Engineering
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• v.22 no.1
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• pp.97-108
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• 2020

The time-consuming and less objectivity are the main problems of conventional micromechanical parameters calibration method of Particle Flow Code simulations. Thus this study aims to address these two limitation of the conventional "trial-and-error" method. A new calibration method for the linear parallel bond model (CM-LPBM) is proposed. First, numerical simulations are conducted based on the results of the uniaxial compression tests on limestone. The macroscopic response of the numerical model agrees well with the results of the uniaxial compression tests. To reduce the number of the independent micromechanical parameters, numerical simulations are then carried out. Based on the results of the orthogonal experiments and the multi-factor variance analysis, main micromechanical parameters affecting the macro parameters of rocks are proposed. The macro-micro parameter functions are ultimately established using multiple linear regression, and the iteration correction formulas of the micromechanical parameters are obtained. To further verify the validity of the proposed method, a case study is carried out. The error between the macro mechanical response and the numerical results is less than 5%. Hence the calibration method, i.e., the CM-LPBM, is reliable for obtaining the micromechanical parameters quickly and accurately, providing reference for the calibration of micromechanical parameters.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.183-190
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• 2022

Accurate kinematic parameters of mobile robots are essential because inaccurate kinematic model produces considerable uncertainties on its odometry and control. Especially, kinematic parameters of caster type mobile robots are important due to their complex kinematic model. Despite the importance of accurate kinematic parameters for caster type mobile robots, few research dealt with the calibration of the kinematic model. Previous study proposed a calibration method that can only calibrate double-wheeled caster type mobile robot and requires direct-measuring of robot center point and distance between casters. This paper proposes a calibration method based on geometric approach that can calibrate single-wheeled caster type mobile robot with two or more casters, does not require direct-measuring, and can successfully acquire all kinematic parameters required for control and odometry. Simulation and hardware experiments conducted in this paper validates the proposed calibration method and shows its performance.

• Journal of The Korean Society of Agricultural Engineers
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• v.60 no.1
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• pp.11-20
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• 2018

This study is to calibrate the SWAT (Soil and Water Assessment Tool) water quality of SS (Suspended Solid), T-P (Total Phosphorus), and T-N (Total Nitrogen) by focusing on 2014~2015 drought periods and identify the important parameters. For Gongdo watershed ($366.5km^2$), the SWAT was calibrated for 2 cases of 2002~2006 normal year focusing calibration and 2014~2015 drought focusing calibration respectively. The parameters of N_UPDIS (Nitrogen uptake distribution parameter) and CMN (Rate factor for humus mineralization of active organic nutrients) played important roles for T-N calibration during drought periods. The SWAT SS, T-N, and T-P average $R^2$ (Coefficient of determination) results by focusing on 2014~2015 drought periods calibration showed 0.71, 0.65 and 0.62 while 2002~2006 normal year focusing calibration showed 0.63, 0.58 and 0.50 respectively. Also SWAT SS, T-N, and T-P model efficiency NSE (Nash-Sutcliffe efficiency) results by focusing on drought period (2014~2015) calibrated showed 0.76, 0.77, 0.87 respectively. Even though the SS, T-P parameters were unchanged during the calibration, the SS and T-P results were improved by the hydrological parameters (SCS-CN, SOL_K, SLSOIL) during the drought periods. The SWAT water quality calibration needs to be considered for the movement of SS and nutrients transport especially focusing on the drought characteristics.

• Aerospace Engineering and Technology
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• v.5 no.2
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• pp.90-101
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• 2006

In this paper, the calibration parameters of the gyros and star hackers are estimated by using an on-orbit AOCS sensor calibration algorithm. The calibration algorithm was implemented by Kalman filter. In order to estimate gyro calibration parameters, the calibration algorithm requires calibration maneuver and it was analyzed whether the star trackers are protected by Sun, Moon and Earth or not. Also the star tracker calibration algorithm used the camera image information. This kinds of camera image information simulated ground control point and orbit information. The estimated accuracy of star tracker calibration parameters depends on camera image information.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.752-757
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• 2003

Recently, 3D structure recovery through self-calibration of camera has been actively researched. Traditional calibration algorithm requires known 3D coordinates of the control points while self-calibration only requires the corresponding points of images, thus it has more flexibility in real application. In general, self-calibration algorithm results in the nonlinear optimization problem using constraints from the intrinsic parameters of the camera. Thus, it requires initial value for the nonlinear minimization. Traditional approaches get the initial values assuming they have the same intrinsic parameters while they are dealing with the situation where the intrinsic parameters of the camera may change. In this paper, we propose new initialization method using the minimum 2 images. Proposed method is based on the assumption that the least violation of the camera’s intrinsic parameter gives more stable initial value. Synthetic and real experiment shows this result.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.5
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• pp.777-787
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• 1995

This paper presents a new method for automatically calibrating robot link (Kinematic) parameters during the process of estimating motion parameters of a moving object. The motion estimation is performed based on stereo cameras mounted on the end-effector of a robot manipulator. This approach significantly differs from other calibration approaches in that the calibration is achieved by simply observing the motion of the moving object (without resorting to any other external calibrating tools) at numerous and widely varying joint-angle configurations. A differential error model, which expresses the measurement errors of a robot in terms of robot link parameter errors and motion parameters, is developed. And then a measurement equation representing the true measurement values is derived. By estimating the above two kinds of parameters minimizing the difference between the measurement equations and the true moving pattern, the calibration of the robot link parameters and the estimation of the motion parameters are accomplished at the same time.